Hirnyak, Yuriy     Control system of robot movement [Текст] / Yuriy Hirnyak, Orest Ivakhiv, Markiyan Nakonechnyi, Taras Repetylo // Intelligent data acquistion and advanced computing systems: technology and application IDAACS'2013 : proc. of the IEEE 7th Intern. conf., Sept. 12-14, 2013, Berlin, Germany / Research Inst. for Intelligent Computer Systems, Ternopil Nat. Economic Univ. and V.M. Glushkov Inst. of Cybernetics, Nat. Acad. for Sciences of Ukraine Univ. of Applied Sciences, Hochschule fur Technik und Wirtschaft (HTW). — Berlin, 2013. — P. 334-337.